CN106272502A - Four bar four-wheel straight lines flat folder adaptive robot finger apparatus - Google Patents
Four bar four-wheel straight lines flat folder adaptive robot finger apparatus Download PDFInfo
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- CN106272502A CN106272502A CN201610797887.0A CN201610797887A CN106272502A CN 106272502 A CN106272502 A CN 106272502A CN 201610797887 A CN201610797887 A CN 201610797887A CN 106272502 A CN106272502 A CN 106272502A
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- axle
- drive
- connecting rod
- segment
- thumb wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
Four bar four-wheel straight lines flat folder adaptive robot finger apparatus, belong to robot technical field, including pedestal, two segments, joint shaft, motor, multiple connecting rod, multiple drive, two driving members, actively thumb wheel, driven thumb wheel, limited block and two spring parts etc..The arrangement achieves the function of the clamping of robot finger's straight line parallel and self-adapting grasping；Utilize single motor to drive two segments, reach drive lacking effect；According to body form and the difference of position, can automatically switch between the flat folder of straight line and self adaptation both of which；This device can linear translation the second segment de-clamping object, it is applicable to the good clamping of workbench upper thin sheet part, this device can also be after the first segment contacts object, automatically rotate the second segment to go to contact object, obtain bigger grip effect of exerting oneself, it is possible to automatically adapt to the crawl of the object of difformity, size；Crawl scope is big, reliable and stable.
Description
Technical field
The invention belongs to robot technical field, particularly to a kind of four bar four-wheel straight lines flat folder adaptive robot hands
Refer to the structure design of device.
Background technology
Under-actuated finger refers to that the quantity driving motor on finger is less than the quantity of driven joint freedom degrees.Due to
Drive lacking technology is so that the demand that robot has preferably crawl effect sensing control simultaneously greatly reduces and obtains
Pay attention to.Staff has two kinds of conventional grasping means when capturing object, and a kind of is the relative two end clamping grips referred to, separately
A kind of is that the envelope that strength is bigger grips.
Existing a kind of under-actuated two-articulated robot finger device (Chinese invention patent CN101234489A), including base
Seat, motor, middle part segment, end segment and parallel gear type driving mechanism etc..The arrangement achieves doublejointed finger self adaptation
Capture effect.The weak point of this device is: finger presents straight configuration before not touching object all the time, it is impossible to realize parallel folder
Hold crawl effect.
Existing a kind of under-actuated finger device (United States Patent (USP) US8973958B2), including five connecting rods, spring, machineries
Constraint and motor etc..The arrangement achieves the parallel clamping of circular arc and self-adapting grasping pattern.Operationally, the incipient stage relative to
Pedestal keeps the attitude of end segment to carry out nearly arthrogryposis action, afterwards according to the position of object can realize parallel clamping or
The function that self adaptation envelope grips.It is disadvantageous in that, (1) this device is only capable of realizing the parallel holding function of circular arc, it is impossible to real
Existing straight line parallel holding function, needs robot arms's athleticism to join when clamping various sizes of sheet goods on the table
Close and realize capturing；(2) there is bigger motion dead band in this multi-connecting-rod mechanism, captures scope little.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is provided that the flat folder of a kind of four bar four-wheel straight lines is adaptive
Answer robot finger apparatus.This device has straight line parallel clamping and two kinds of grasp modes of self-adapting grasping, it is not necessary to object ring
Border carries out the detection in real time of complexity, planning, also can successively can transport along the second segment de-clamping object of linear translation end
Dynamic first segment and the second segment self adaptation envelope difformity, the object of size；Employing single motor drives, and captures scope
Greatly.
Technical scheme is as follows:
The one four bar four-wheel straight line flat folder adaptive robot finger apparatus of present invention design, it is characterised in that: include
Pedestal, the first segment, the second segment, motor, drive mechanism, first connecting rod, second connecting rod, third connecting rod, the first axle, second
Axle, the 3rd axle, the 4th axle, joint shaft, the first drive, the second drive, the 3rd drive, the 4th drive, the first transmission
Part, the second driving member, the first spring part, the second spring part, actively thumb wheel, driven thumb wheel, actively projection, driven projection, block and limit
Position block；Described motor is affixed with pedestal；The output shaft of described motor is connected with the input of drive mechanism, described drive mechanism
Outfan and the first axle are connected；Described active thumb wheel is fixed on the first axle, and described first axle sleeve is located in pedestal, and described first
The two ends of spring part connect actively thumb wheel, first connecting rod respectively；One end of described first connecting rod is actively socketed on the first axle, and first
The other end of connecting rod is socketed on the second axle；One end of described second connecting rod is socketed on the second axle, the other end of second connecting rod
It is socketed on joint shaft；Described first segment is affixed with second connecting rod；Described 3rd axle sleeve is located at the middle part of second connecting rod, described
4th axle sleeve is located on pedestal；One end of described third connecting rod is socketed on the 3rd axle, and the other end of third connecting rod is socketed in
On four axles；Described second segment is socketed on joint shaft, in described first axle, the second axle, the 3rd axle, the 4th axle, joint shaft
Heart line is parallel to each other；Described first drive is actively socketed on the first axle, and described second driving wheel tube is connected on the second axle, institute
Stating the 3rd driving wheel tube to be connected on the second axle, described second drive and the 3rd drive are affixed, described 4th drive socket
On joint shaft, described 4th drive and the second segment are affixed；The two ends of described second spring part connect respectively driven thumb wheel and
Pedestal, described limited block is fixed on pedestal, and described active thumb wheel has affixed active projection；Described driven thumb wheel movable sleeve
Being connected on the first axle, driven thumb wheel and the first drive are affixed；Affixed driven projection and block is had on described driven thumb wheel；Institute
State block to contact with described limited block when original state；Described active projection exists certain when initial position with driven projection
Distance, described active projection contacts driven projection rotating after an angle；Described first driving member respectively with the first transmission
Wheel, the second drive are connected, and described first driving member, the first drive and the second drive three constitute drive connection；Described
Second driving member is connected with the 3rd drive, the 4th drive respectively, described second driving member, the 3rd drive and the 4th transmission
Wheel three constitutes drive connection；By the first driving member and the second driving member, take turns to the transmission of the 4th drive from the first transmission
Chain constitutes co-rotating transmission chain and gear ratio is 1；If the central point of described first axle is A, the central point of the second axle is B, the 3rd axle
Central point be C, the central point of the 4th axle is D, and the central point of joint shaft is E；2 times of line segment AD a length of line segment AB length,
2.5 times of line segment CD a length of line segment AB length, line segment CD length is equal to line segment BC length, and line segment BC length is equal to line segment CE length
Degree.
The present invention compared with prior art, has the following advantages and salience effect:
Apparatus of the present invention utilize single motor, multiple connecting rod, actively thumb wheel, driven thumb wheel, multiple belt wheel and two spring parts
The function with self-adapting grasping is clamped Deng comprehensively achieving robot finger's straight line parallel；Use the double leval jib meeting certain condition
Mechanism achieves remote joint shaft along linear motion, uses double pulley mechanism to coordinate and realizes the second segment and keep opposite base to fix
The translation of attitude；When object contact the first segment be blocked time, comprehensive real by two spring parts, actively thumb wheel and driven thumb wheel etc.
Show the second segment automatically to rotate around joint shaft；Utilize single motor to drive two segments, reach drive lacking effect；According to object
Shape and the difference of position, can automatically switch between flat folder and self adaptation both of which；This device can linear translation
Two segment de-clamping objects, it is adaptable to the good clamping of workbench upper thin sheet part, this device can also be at the first segment contactant
After body, automatically rotate the second segment and go to contact object, it is thus achieved that bigger stable grip effect of exerting oneself, it is possible to automatically adapt to difference
Shape, the crawl of object of size；Crawl scope is big, reliable and stable.
Accompanying drawing explanation
Fig. 1 is the reality that the four bar four-wheel straight lines that the present invention designs equal a kind of embodiment of folder adaptive robot finger apparatus
Execute the stereo appearance figure of example.
Fig. 2 is the stereo appearance figure (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 3 is the side elevational schematic view of embodiment illustrated in fig. 1.
Fig. 4 is the front view of embodiment illustrated in fig. 1.
Fig. 5 is the front view (being not drawn into the first segment and first surface plate) of embodiment illustrated in fig. 1.
Fig. 6 is the stereo appearance figure (being not drawn into the first segment, first surface plate, pedestal left plate) of embodiment illustrated in fig. 1.
Fig. 7 is the explosive view of embodiment illustrated in fig. 1.
Fig. 8 is part in embodiment illustrated in fig. 1 (driven thumb wheel, pedestal, limited block and the second spring part) location drawing.
Fig. 9 is (the actively active shifting block on thumb wheel and driven group on driven thumb wheel of part in embodiment illustrated in fig. 1
Block) location drawing.
Figure 10 is the side outward appearance (being not drawn into part) of embodiment illustrated in fig. 1, demonstrates the position of some A, B, C, D and E
Put.
Figure 11 is the quadric chain sketch of AB, BCD, the CE shown in Figure 10 and base linkage AD, demonstrates and is actively turning
The motion track of dynamic connecting rod AB time point E, having one section of straight path in this track is exactly the second segment straight line parallel of the present embodiment
The motion track of reception step.
Figure 12 to Figure 14 is the embodiment illustrated in fig. 1 course of action figure at straight line parallel reception step.
Figure 15 to Figure 17 is the embodiment illustrated in fig. 1 course of action figure in the self adaptation envelope stage.
Figure 18 to Figure 19 is embodiment illustrated in fig. 1 several passes during self adaptation envelope holding mode captures object motion
During key position, the situation of change of driven thumb wheel, the second spring part and the relative position of limited block.
Figure 20 to Figure 22 is embodiment illustrated in fig. 1 several passes during self adaptation envelope holding mode captures object motion
During key position, the actively situation of change of thumb wheel and the relative position of driven thumb wheel.
Figure 23 is embodiment illustrated in fig. 1 self-adapting grasping object schematic diagram (being not drawn into part).
In Fig. 1 to Figure 23:
1-pedestal, 11-pedestal left plate, 12 pedestal right panels, 13 pedestal back plate,
14 pedestal bottom plates, 2-motor, 21-the first axle, 22-the second axle,
23-the 3rd axle, 24-the 4th axle, 25-joint shaft, the driven thumb wheel of 3-,
31 driven projections, 32 blocks, 4-actively thumb wheel, 41 active projections,
15 limited blocks, 51-the first segment, 511 first surface plates, 52-the second segment,
521 second surface plates, 61 first driving members, 62 second driving members, 71-first connecting rod,
72-second connecting rod, 73-third connecting rod, 81-the first spring part, 82-the second spring part,
9-object, 91 first drives, 92 second drives, 93 the 3rd drives,
94 the 4th drives, 211 decelerators, 212 driving gears, 213 driven gears.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment is described in further detail the content of the concrete structure of the present invention, operation principle.
Four bar four-wheel straight lines of present invention design equal a kind of embodiment of folder adaptive robot finger apparatus, such as Fig. 1 extremely
Shown in Fig. 7, including pedestal the 1, first segment the 51, second segment 52, motor 2, drive mechanism, first connecting rod 71, second connecting rod 72,
Third connecting rod the 73, first axle the 21, second axle the 22, the 3rd axle the 23, the 4th axle 24, joint shaft the 25, first drive the 91, second transmission
Wheel the 92, the 3rd drive the 93, the 4th drive the 94, first driving member the 61, second driving member the 62, first spring part the 81, second spring part
82, actively thumb wheel 4, driven thumb wheel 3, actively projection 41, driven projection 31, block 32 and limited block 15；Described motor 2 and pedestal
1 is affixed；The described output shaft of motor 2 is connected with the input of drive mechanism, the outfan of described drive mechanism and the first axle 21
It is connected；Described active thumb wheel 4 is fixed on the first axle, and described first axle 21 is set in pedestal, the two of described first spring part 81
End connects actively thumb wheel 4, first connecting rod 71 respectively；One end of described first connecting rod 71 is actively socketed on the first axle 21, and first
The other end of connecting rod 71 is socketed on the second axle 22；One end of described second connecting rod 72 is socketed on the second axle 22, second connecting rod
The other end of 72 is socketed on joint shaft 25；Described first segment 51 is affixed with second connecting rod 72；Described 3rd axle 23 is set in
The middle part of second connecting rod 72, described 4th axle 24 is set on pedestal；One end of described third connecting rod 73 is socketed on the 3rd axle,
The other end of third connecting rod 73 is socketed on the 4th axle 24；Described second segment 51 is socketed on joint shaft, described first axle 21,
Second axle the 22, the 3rd axle the 23, the 4th axle 24, the centrage of joint shaft 25 are parallel to each other；Described first drive 91 pivot bush unit
On the first axle, described second drive 92 is socketed on the second axle, and described 3rd drive 93 is socketed on the second axle, described
Second drive and 92 the 3rd drives 93 are affixed, and described 4th drive 94 is socketed on joint shaft 25, described 4th transmission
Wheel 91 is affixed with the second segment 52；The two ends of described second spring part 82 connect driven thumb wheel 3 and pedestal 1, described limited block respectively
15 are fixed on pedestal, and described active thumb wheel 4 has affixed active projection 41；Described driven thumb wheel 3 is actively socketed on first
On axle, driven thumb wheel 3 is affixed with the first drive 91；Affixed driven projection 31 and block 32 is had on described driven thumb wheel 3；Institute
State block 32 to contact with described limited block 12 when original state；Described active projection 41 when initial position with driven projection 31
There is a certain distance, described active projection 41 contacts driven projection after rotating an angle；Described first driving member 61 points
It is not connected with first drive the 91, second drive 92, described first driving member the 61, first drive 91 and the second drive 92
Three constitutes drive connection；Described second driving member 62 is connected with the 3rd drive the 93, the 4th drive 94 respectively, and described second
Driving member the 62, the 3rd drive 93 and the 4th drive 94 three constitute drive connection；Passed by the first driving member 61 and second
Moving part 62, constitutes co-rotating transmission chain from the driving-chain of the first drive 91 to the 4th drive 94 and gear ratio is 1；If described
The central point of one axle 21 is A, and the central point of the second axle 22 is B, and the central point of the 3rd axle 23 is C, and the central point of the 4th axle 24 is
D, the central point of joint shaft 25 is E；2 times of line segment AD a length of line segment AB length, the 2.5 of line segment CD a length of line segment AB length
Times, line segment CD length is equal to line segment BC length, and line segment BC length is equal to line segment CE length.
In the present embodiment, described first spring part 81 uses torsion spring, described second spring part 82 to use extension spring.
In the present embodiment, described first driving member and the second driving member use transmission band, described first drive, the second biography
Driving wheel, the 3rd drive and the 4th drive use belt wheel, described first driving member and the second driving member in " O " shape, described the
The gear ratio of one drive and the second drive is 1:1, and the gear ratio of described 3rd drive and the 4th drive is 1:1.
In the present embodiment, described drive mechanism includes decelerator 211, driving gear 212 and driven gear 213；Described electricity
The output shaft of machine 2 is connected with the power shaft of decelerator 211, and described driving gear 212 is fixed on the output shaft of decelerator 211,
Described driven gear 213 is fixed on the first axle 21.
Described pedestal 1 includes pedestal left plate 11, pedestal right panel 12, pedestal back plate 13 and the pedestal bottom plate being fixed together
14；Described first segment 51 also includes that the first surface plate 511 affixed with its surface, described second segment 52 also include and its table
The second surface plate 521 that face is affixed.
The operation principle of the present embodiment, is described below in conjunction with accompanying drawing:
When the present embodiment is in original state, as shown in Figure 12 or Figure 15.
Motor 2 rotates, and drives driving gear 212 to rotate by decelerator 211, drives driven gear 213 to rotate, and drives main
Dynamic thumb wheel 4 rotates, and pulls first connecting rod 71 to rotate around the centrage of the first axle 21 by the first spring part 81；Because first connecting rod
71, second connecting rod 72, third connecting rod 73 and pedestal 1 constitute Chebyshev's quadric chain, and meet following condition:
A) the length three of the length of line segment BC, the length of line segment CD and line segment CE is equal,
B) 2 times of the length of the line segment AD length equal to line segment AB,
C) length of line segment CD is 2.5 times of length of line segment AB；
So, when first connecting rod 71 is counterclockwise in time rotating over lower section, and the track of some E is straight line, i.e. in motion
The vertical line segment length of some E to line segment AD is the most constant, as shown in figure 11.
Additionally, in the starting stage, owing to driven thumb wheel 3 and the first drive 91 are pulled and lean against and pedestal by the second spring part 82
On 1 affixed limited block 15, owing to first drive the 91 to the second drive 92 gear ratio is 1, and the 3rd drive 93 is to
The gear ratio of four drives 94 is 1, and the 3rd drive 94 is affixed with the 4th drive, therefore the 4th drive 94 and the second segment
52 keep and the geostationary attitude of pedestal 1, reach the grasping movement of straight line parallel clamping, in the process when the second segment 52
Contact object, then capture and terminate.As shown in Figure 12 to Figure 14.
When in said process, the first segment 51 contacts object 9 and is blocked, and the second segment 52 is also not in contact with object 9, then enter
Enter second stage self-adapting grasping pattern, as follows:
Motor 2 is rotated further, and drives actively thumb wheel 4 to rotate, draws first connecting rod 71 by the first spring part 81, due to second even
Bar 72 and the first segment 51 are stopped by object 9 and no longer move, therefore first connecting rod 71 no longer moves, and the first spring part 81 becomes
Shape, second connecting rod 72 and the first segment 52 apply a grasping force increased, simultaneously the power drive active of motor 2 to object 9
Thumb wheel 4 is rotated further, and actively the active projection 41 on thumb wheel 4 is also not in contact with the driven projection 31 on driven thumb wheel, through one
After short time, actively projection 41 contacts and promotes driven projection 31, and now, driven thumb wheel 3 and the first drive 91 occur to turn
Dynamic, the second spring part 82 deforms, and first driving member 95 that rotates through of the first drive 91 drives the second drive 92 to rotate,
3rd drive 93 being rotated, drives the 4th drive 94 to rotate by the second driving member 96, the second segment 52 rotates, until
Second segment 52 contacts object 9, and crawl terminates.For the object 9 of difformity size, this device has the spy of self-adapting grasping
Point.As shown in Figure 15 to Figure 17.
During release process, motor 2 inverts, contrary with said process, repeats no more.
Figure 18 to Figure 19 is embodiment illustrated in fig. 1 several passes during self adaptation envelope holding mode captures object motion
During key position, the situation of change of driven thumb wheel, the second spring part and the relative position of limited block.
Figure 20 to Figure 22 is embodiment illustrated in fig. 1 several passes during self adaptation envelope holding mode captures object motion
During key position, the actively situation of change of thumb wheel and the relative position of driven thumb wheel.Double dot dash line in Figure 20 to Figure 21 is initial
Active projection on the active thumb wheel of state, the double dot dash line in Figure 22 is the driven projection on the driven thumb wheel of original state.
Wherein actively thumb wheel will not touch driven thumb wheel in initial rotation process, just can contact and promote after turning over certain angle from
Dynamic thumb wheel.Figure 23 is embodiment illustrated in fig. 1 self-adapting grasping object schematic diagram.
Apparatus of the present invention utilize single motor, multiple connecting rod, actively thumb wheel, driven thumb wheel, multiple drive and two springs
Parts etc. comprehensively achieve the function of the clamping of robot finger's straight line parallel and self-adapting grasping；Meet certain condition four are used to connect
Linkage achieves remote joint shaft along linear motion, uses double pulley mechanism to coordinate and realizes the second segment and keep opposite base solid
Determine the translation of attitude；When object contact the first segment be blocked time, comprehensive by two spring parts, actively thumb wheel and driven thumb wheel etc.
Achieve the second segment automatically to rotate around joint shaft；Utilize single motor to drive two segments, reach drive lacking effect；According to thing
Shape and the difference of position, can automatically switch between flat folder and self adaptation both of which；This device can linear translation
Second segment de-clamping object, it is adaptable to the good clamping of workbench upper thin sheet part, this device can also contact in the first segment
After object, automatically rotate the second segment and go to contact object, it is thus achieved that bigger stable grip effect of exerting oneself, it is possible to automatically adapt to not
Similar shape, the crawl of object of size；Crawl scope is big, reliable and stable.
Claims (1)
1. a bar four-wheel straight line flat folder adaptive robot finger apparatus, it is characterised in that: include pedestal, the first segment,
Second segment, motor, drive mechanism, first connecting rod, second connecting rod, third connecting rod, the first axle, the second axle, the 3rd axle, the 4th
Axle, joint shaft, the first drive, the second drive, the 3rd drive, the 4th drive, the first driving member, the second driving member,
First spring part, the second spring part, actively thumb wheel, driven thumb wheel, actively projection, driven projection, block and limited block；Described motor with
Pedestal is affixed；The output shaft of described motor is connected with the input of drive mechanism, the outfan of described drive mechanism and the first axle
It is connected；Described active thumb wheel is fixed on the first axle, and described first axle sleeve is located in pedestal, and the two ends of described first spring part are respectively
Connect actively thumb wheel, first connecting rod；One end of described first connecting rod is actively socketed on the first axle, the other end set of first connecting rod
It is connected on the second axle；One end of described second connecting rod is socketed on the second axle, and the other end of second connecting rod is socketed on joint shaft；
Described first segment is affixed with second connecting rod；Described 3rd axle sleeve is located at the middle part of second connecting rod, and described 4th axle sleeve is located at base
On seat；One end of described third connecting rod is socketed on the 3rd axle, and the other end of third connecting rod is socketed on the 4th axle；Described second
Segment is socketed on joint shaft, and described first axle, the second axle, the 3rd axle, the 4th axle, the centrage of joint shaft are parallel to each other；Institute
Stating the first drive to be actively socketed on the first axle, described second driving wheel tube is connected on the second axle, described 3rd driving wheel tube
Being connected on the second axle, described second drive and the 3rd drive are affixed, and described 4th driving wheel tube is connected on joint shaft, described
4th drive and the second segment are affixed；The two ends of described second spring part connect driven thumb wheel and pedestal, described limited block respectively
It is fixed on pedestal, described active thumb wheel has affixed active projection；Described driven thumb wheel is actively socketed on the first axle, from
Dynamic thumb wheel and the first drive are affixed；Affixed driven projection and block is had on described driven thumb wheel；Described block is at initial shape
Contact with described limited block during state；A certain distance, described master is there is with driven projection in described active projection when initial position
Dynamic projection contacts driven projection after rotating an angle；Described first driving member respectively with the first drive, the second drive
Being connected, described first driving member, the first drive and the second drive three constitute drive connection；Described second driving member is respectively
Being connected with the 3rd drive, the 4th drive, described second driving member, the 3rd drive and the 4th drive three constitute transmission
Relation；By the first driving member and the second driving member, the driving-chain taking turns to the 4th drive from the first transmission constitutes co-rotating transmission
Chain and gear ratio are 1；If the central point of described first axle is A, the central point of the second axle is B, and the central point of the 3rd axle is C, the
The central point of four axles is D, and the central point of joint shaft is E；2 times of line segment AD a length of line segment AB length, a length of line of line segment CD
2.5 times of section AB length, line segment CD length is equal to line segment BC length, and line segment BC length is equal to line segment CE length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797887.0A CN106272502B (en) | 2016-08-31 | 2016-08-31 | The flat folder adaptive robot finger apparatus of four bar four-wheel straight lines |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797887.0A CN106272502B (en) | 2016-08-31 | 2016-08-31 | The flat folder adaptive robot finger apparatus of four bar four-wheel straight lines |
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| CN106272502A true CN106272502A (en) | 2017-01-04 |
| CN106272502B CN106272502B (en) | 2018-10-16 |
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|---|---|---|---|---|
| CN109129549B (en) * | 2018-09-14 | 2021-08-17 | 清华大学 | Sliding chute double-crank linear parallel clamping self-adaptive robot finger device |
| CN110605733A (en) * | 2019-10-31 | 2019-12-24 | 中国科学院合肥物质科学研究院 | Self-adaptive finger clamping device |
| CN110605733B (en) * | 2019-10-31 | 2022-08-02 | 中国科学院合肥物质科学研究院 | Self-adaptive finger clamping device |
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|---|---|
| CN106272502B (en) | 2018-10-16 |
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